Positional Servo Systems (e.g., Servomechanisms) Patents (Class 318/560)
  • Patent number: 11171583
    Abstract: A motor control apparatus includes: an excitation unit configured to excite a plurality of excitation phases of each of a plurality of motors that include first to Nth motors and a control unit configured to control the excitation unit so as to perform detection excitation processing for sequentially exciting the plurality of excitation phases for each excitation cycle during each excitation period, regarding each of the first to Nth motors, and thereby detect rotor positions of the respective first to Nth motors. When detecting rotor positions of the respective first to Nth motors, the control unit delays a start timing of the detection excitation processing of at least one motor out of the first to Nth motors relative to a start timing of the detection excitation processing of another motor by a period shorter than the excitation period.
    Type: Grant
    Filed: January 15, 2020
    Date of Patent: November 9, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventors: Eijiro Ohashi, Takuya Miyashita, Yasukazu Maeda
  • Patent number: 11159118
    Abstract: An electric power steering device includes: an electric motor including multi-phase coils, which is configured to cause a steering mechanism of a vehicle to rotate; and a control unit including a plurality of inverter circuits configured to drive the electric motor, wherein the inverter circuits include capacitors for smoothing, which are small in number than phase number of the electric motor, and the capacitors are arranged between bridge circuits of respective phases of the inverter circuits.
    Type: Grant
    Filed: May 11, 2017
    Date of Patent: October 26, 2021
    Assignee: Mitsubishi Electric Corporation
    Inventors: Rei Araki, Yu Kawano, Norihiro Yamaguchi
  • Patent number: 11153544
    Abstract: Provided are a method and an apparatus for correcting a color convergence error, and a device. The method includes: controlling a projection system to project a first test pattern containing three sets of monochromatic test points and a second test pattern containing three sets of R, G, and B test points, to collect a first projection image and a second projection image on the projection screen; acquiring a first center-of-mass coordinate and a second center-of-mass coordinate corresponding to projection image points on the first projection image and the second projection image; calculating color noises corresponding to R, G, and B according to the first center-of-mass coordinate and the second center-of-mass coordinate; calculating color coordinates corresponding to the R, G, and B according to the color noises corresponding to the R, G, and B and the second center-of-mass coordinate; and adjusting an assembly parameter of the projection system.
    Type: Grant
    Filed: September 6, 2018
    Date of Patent: October 19, 2021
    Assignee: GOERTEK INC.
    Inventors: Xinxin Han, Zhiyong Zhao, Nanjing Dong, Debo Sun
  • Patent number: 11084281
    Abstract: Provided are a position detection device, a printing apparatus equipped with the position detection device and a position detection method which make it possible to set an original point on a deviation-free appropriate position with no need of highly accurate adjustment of built-in positions of a linear encoder and an original point sensor.
    Type: Grant
    Filed: February 20, 2020
    Date of Patent: August 10, 2021
    Assignee: CASIO COMPUTER CO., LTD.
    Inventor: Shinsuke Miura
  • Patent number: 11079734
    Abstract: Respective amounts of movement of feed axes corresponding to first and second position controllers are determined, and if a value obtained by dividing a smaller amount of movement by a larger amount of movement, in the two amounts of movement, falls within a prescribed reference range, a position controller for the feed axis with the smaller amount of movement selects a detected motor position as a position feedback value and a position controller for the other feed axis selects a detected object position as a position feedback value.
    Type: Grant
    Filed: March 14, 2019
    Date of Patent: August 3, 2021
    Assignee: OKUMA CORPORATION
    Inventor: Noriyuki Fukui
  • Patent number: 11068058
    Abstract: An immersive system includes a processing device. The processing device is communicated with an interface device and an electronic display in a head mounted display device. The interface device includes a haptic feedback circuit. The haptic feedback circuit is configured to induce a haptic feedback. The interface device includes a haptic feedback circuit. The haptic feedback circuit is configured to induce a haptic feedback. The processing device is configured to provide an immersive content to the electronic display. The processing device is configured to identify a simulated object corresponding to the interface device in the immersive content, and identify an interaction event occurring to the simulated object in the immersive content. The processing device is configured to determine a vibration pattern according to the interaction event and the simulated object, and control the haptic feedback circuit to induce the haptic feedback according to the vibration pattern.
    Type: Grant
    Filed: July 11, 2018
    Date of Patent: July 20, 2021
    Assignee: HTC Corporation
    Inventor: Sheng-Yang Pan
  • Patent number: 11038443
    Abstract: A motor control system includes a motor, and a motor control apparatus including first processing circuitry that, based on a driving state quantity of the motor, controls driving power supplied to the motor, safety request input receiving circuitry through which a safety request signal is input from outside the motor control apparatus, safety cooperation input receiving circuitry through which a safety cooperation signal is input from outside the motor control apparatus, safety cooperation output circuitry through which the motor control apparatus outputs the safety cooperation signal to outside the motor control apparatus, and second processing circuitry that, upon input of at least one signal among the safety request signal and the safety cooperation signal, monitors a relationship between a predetermined motion monitor pattern and the driving state quantity and outputs the safety cooperation signal.
    Type: Grant
    Filed: September 16, 2019
    Date of Patent: June 15, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Kunimasa Ando
  • Patent number: 11023827
    Abstract: A machine learning device performs machine learning with respect to a servo control device including at least two feedforward calculation units among a position feedforward calculation unit configured to calculate a position feedforward term on the basis of a position command, a velocity feedforward calculation unit configured to calculate a velocity feedforward term on the basis of a position command, and a current feedforward calculation unit configured to calculate a current feedforward term on the basis of a position command. Machine learning related to the coefficients of a transfer function of one feedforward calculation unit among the at least two feedforward calculation units is performed earlier than machine learning related to the coefficients of a transfer function of the other feedforward calculation unit.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: June 1, 2021
    Assignee: FANUC CORPORATION
    Inventors: Ryoutarou Tsuneki, Satoshi Ikai
  • Patent number: 11018557
    Abstract: An speed detection apparatus of a rotational shaft in a robot arm that is applied to a drive mechanism is provided. The speed detection apparatus includes: first and second rotation sensors that are disposed on a side of a rotational shaft of the robot arm and outputs first and second rotational position signals with a phase difference of 90 degrees; first and second differentiators that differentiate the first and second rotational position signals; and a speed calculator that obtains a rotational speed of the robot arm by calculating a sum of squares of a first differential signal and a second differential signal.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: May 25, 2021
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Kenji Nagamatsu
  • Patent number: 11009851
    Abstract: A drive controller comprises an evaluation unit to receive and evaluate a first item of feedback information from a motor connected to the drive controller, a control-signal block connected to secure inputs of the drive controller to receive condition control signals and to provide the condition control signals as input signals, a drive-signal block connected to the evaluation unit to calculate a first speed and/or a first position on the basis of the first item of feedback information on at least a first channel and to provide a first speed signal and/or a first position signal, a programmable logic unit connected to the control-signal block and the drive-signal block to realize the safety functions and the speed signal and/or the position signal to provide switch-off signals, and an output unit connected to the logic unit and to secure outputs of the drive controller to output switch-off signals on safety-switch-off paths.
    Type: Grant
    Filed: May 9, 2019
    Date of Patent: May 18, 2021
    Assignee: Beckhoff Automation GmbH
    Inventors: Robert Zutz, Oliver Ellerbrock, Holger Buettner
  • Patent number: 10998934
    Abstract: An image reading apparatus includes an image reader, an image controller, and an FFC configured to connect the image controller and the image reader to each other. The FFC includes a first signal line, a second signal line, and a third signal line. The image reader includes a loop back portion configured to return a signal transmitted from the image controller through the first signal line back to the image controller through the second signal line. The third signal line forms a feedback portion configured to return a signal output from the image controller back to the image controller before the signal is received by the image reader. The image controller is configured to detect an abnormality in a cable, the image reader, and the image controller based on diagnosis results obtained with use of the loop back portion and the feedback portion.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: May 4, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Satoshi Yoshida
  • Patent number: 10994385
    Abstract: A vibration state detection device includes an imaging device configured to image at least one driven element to be driven by a drive unit of a machine tool; and a vibration state analysis unit configured to calculate a parameter corresponding to vibration of the driven element, based on image data for each predetermined period of elapsed time acquired by the imaging device. The parameter includes at least a vibration frequency and a machine tool including the vibration state detection device. Accordingly, it is possible to reliably obtain a parameter corresponding to vibration caused by cutting, even if cutting oil, chips, or the like adheres to a tool of a machine tool, and it is possible to suppress vibration caused by cutting.
    Type: Grant
    Filed: August 16, 2017
    Date of Patent: May 4, 2021
    Assignee: DMG MORI Co., Ltd.
    Inventors: Yasutaka Kato, Hisayoshi Morita
  • Patent number: 10971987
    Abstract: A method for open-loop and/or closed-loop control of a linear drive, a linear drive; and a system, wherein the linear drive includes at least one segment, at least one rotor, at least one machine station and a control device, where the at least one rotor is moved in a direction via the at least one segment, at least a portion of at least one segment is within a region accessible by the machine station, the movement of the at least one rotor is controlled in an open-loop and/or closed-loop manner by the control device and/or control unit, the controlling occurs in accordance with a movement pattern for the rotor, and where the movement of a particular rotor in the region accessible by the associated machine station is specified by a movement profile in accordance with the mode of operation of the associated machine station.
    Type: Grant
    Filed: November 15, 2016
    Date of Patent: April 6, 2021
    Assignee: Siemens Aktiengesellschaft
    Inventors: Michael Jaentsch, Maximilian Klaus, Gerhard Rastaetter, Robin Sailer, Carsten Spindler, Csilla Szathmary
  • Patent number: 10955084
    Abstract: A positioning table device with six or fewer degrees of freedom and redundancy. Four modular legs extend from a base to a table. Each leg has three joints. In one embodiment, the bottom joint is planar and active, the middle joint is prismatic and passive, and the top joint is spherical and passive. In another embodiment, fewer than six degrees of freedom is achieved by reducing the number of degrees of freedom of selected joints. In another embodiment, the middle joint is active, and the bottom and top joints are passive.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: March 23, 2021
    Assignee: Huber Diffraktionstechnik GmbH & Co. KG
    Inventor: Gheorghe Olea
  • Patent number: 10951153
    Abstract: An apparatus for controlling an inverter driving a motor is provided. The apparatus includes a current controller that generates a voltage instruction for causing a current detection value, obtained by measuring a current provided from an inverter to a motor, to correspond to a current instruction for driving the motor. A voltage modulator generates a pulse width modulation signal for controlling on/off states of switching devices in the inverter at a predetermined switching frequency based on the voltage instruction. A frequency determiner determines the switching frequency based on driving information of the motor, determines a plurality of synchronization frequencies based on a speed of the motor, and randomly selects and determines one of the plurality of synchronization frequencies as the switching frequency.
    Type: Grant
    Filed: October 16, 2019
    Date of Patent: March 16, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Yong Jae Lee, Joo Young Park, Jae Ho Hwang, Mu Shin Kwak, Su Hyun Bae
  • Patent number: 10942505
    Abstract: A data processing and transmission system (1) for a numerical control unit (2) adapted to control a machine tool (3), comprises at least one input channel (4) adapted to a transit of operational signals from or to devices present in the machine tool, electronic circuits configured to process the operational signals to make available on an output interface (5) control signals for the numerical control unit, a multipolar cable (8) having a first and a second end, each provided with a multipolar connector (9), a master unit having the output interface, a main processor, a memory and at least one socket (7A) configured to be coupled to one of the multipolar connectors, one or more slave units (6), each provided with at least one external port (6A) defining the input channel, a memory, a secondary processor, and provided also with a first socket (6B) and a second socket (6C), configured to be coupled at least to a first or a second connector of the multipolar connectors in order to interconnect the slave unit at l
    Type: Grant
    Filed: August 31, 2016
    Date of Patent: March 9, 2021
    Assignee: Marposs Societa' Per Azioni
    Inventors: Antonio De Renzis, Fabio Goretti, Luigi Testoni
  • Patent number: 10916108
    Abstract: Braking torque based on a friction force is increased in a pulse state in a transition area in which control torque changes from a direction to encourage the rotation of a manipulation member to a direction to suppress the rotation. This braking torque based on a friction force does not cause vibration unlike the driving torque of an electric motor even if the braking torque is steeply increased. Therefore, when the rotational angle passes through the transition area, a clearer click feeling can be generated without a change like vibration being caused in control torque. When the manipulation member is rotated fast, the braking torque in a pulse state is likely to be felt as vibration.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: February 9, 2021
    Assignee: ALPS ALPINE CO., LTD.
    Inventor: Hiroshi Wakuda
  • Patent number: 10879819
    Abstract: An error detector generates a position error value ERR that corresponds to a difference between a position instruction value P_REF indicative of a target position of a rotor based on a clock signal CLK and a position detection value P_FB indicative of the current position of the rotor based on pulse signals EN_A and EN_B received from an encoder. A feedback controller generates a torque instruction value T_REF such that a position error value ERR approaches zero. The driving IC is capable of switching modes between a rotational driving control mode and a holding mode. Control characteristics set for the feedback controller are switched according to switching between the rotational driving control mode and the holding mode.
    Type: Grant
    Filed: October 31, 2018
    Date of Patent: December 29, 2020
    Assignee: ROHM CO., LTD.
    Inventors: Hiroki Hashimoto, Masanori Tsuchihashi
  • Patent number: 10867501
    Abstract: A housing can be wearable by a user. At least one microphone in or on the housing can sense ambient audio and produce at least one time-domain audio signal. The housing can be passive, such that the sensed ambient audio does not include any sound emitted from the housing. A transformation circuit can transform the at least one time-domain audio signal to form at least one frequency-domain audio signal. An identification circuit can identify a spectral feature in the at least one frequency-domain audio signal. A tracking circuit can track a time evolution of the spectral feature. A determination circuit can determine from the tracked time evolution of the spectral feature that the spectral feature corresponds to an object moving toward the housing. An alert circuit can alert the user, in response to the determination circuit determining that the object is moving toward the housing.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: December 15, 2020
    Assignee: Ibiquity Digital Corporation
    Inventor: Marek Milbar
  • Patent number: 10855213
    Abstract: A motor driver device includes: a detector that detects a polarity inversion timing of a current flowing through a coil of a predetermined phase of a motor; a drive control signal generator that generates a pulse-width-modulated or pulse-density-modulated drive control signal for each phase based on the detection result; and a drive voltage supply that supplies a drive voltage corresponding to the drive control signal to a corresponding coil, wherein the drive control signal generator includes a prediction processor configured to set a detection prediction interval based on two or more previously detected polarity inversion timings, and executes a frequency variable control to set a variable target frequency to be higher in the detection prediction interval than outside the detection prediction interval, the variable target frequency being a frequency of the pulse-width-modulated drive control signal or a reciprocal of a minimum pulse width of the pulse-density-modulated drive control signal.
    Type: Grant
    Filed: August 12, 2019
    Date of Patent: December 1, 2020
    Assignee: Rohm Co., Ltd.
    Inventor: Hisashi Sugie
  • Patent number: 10821934
    Abstract: Present systems and methods are directed to an audio system integrated into a restraint system for an amusement park ride vehicle. Specifically, a system includes a restraining system for a ride vehicle of an amusement park. The system includes an audio system comprising a speaker and a microphone, wherein the audio system is positioned inside of the restraining system and configured to produce audio via the speaker in response to a received audio activation signal.
    Type: Grant
    Filed: October 24, 2017
    Date of Patent: November 3, 2020
    Assignee: Universal City Studios LLC
    Inventors: Gregory S. Hall, Keith Michael McVeen, Brian Birney McQuillian
  • Patent number: 10809694
    Abstract: The present invention is provided with: a servo motor; a servo driver which supplies a driving current to the servo motor and drives the servo motor; and an information processing device which transmits, to the servo driver, an operation command signal of the servo motor, wherein a movement range limiting device is further provided, which executes, on the basis of the operation command signal from the information processing device, automatic tuning that adjusts a gain in a servo motor control, and which prevents, in the automatic tuning, the servo motor from moving beyond a permissible range by returning the position of the servo motor to a prescribed start position.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: October 20, 2020
    Assignee: OMRON Corporation
    Inventors: Fumiaki Sato, Daisuke Tamashima
  • Patent number: 10702932
    Abstract: To provide a power tool configured to stably rotate an end tool. The provided power tool includes a brushless motor including a rotor configured to rotate; a rectifier circuit configured to rectify an AC voltage; a smoothing capacitor configured to smooth the AC voltage rectified by the rectifier circuit to a pulsating voltage; an inverter circuit configured to perform switching operations to output the pulsating voltage to the brushless motor; a deceleration mechanism including: a driving portion at a rotor side, a driven portion configured to transmit a rotating force to an end tool side, and an elastic member configured to transmit a rotational force of the driving portion to the driven portion, the deceleration mechanism configured to decelerate a speed of a rotation of the rotor and configured to transmit the rotation to an end tool.
    Type: Grant
    Filed: February 26, 2016
    Date of Patent: July 7, 2020
    Assignee: Koki Holdings Co., Ltd.
    Inventors: Takeru Kumakura, Shinji Kuragano
  • Patent number: 10637719
    Abstract: The present disclosure relates to a bus exception handling method of a robot including a main controller and a plurality of execution nodes electronically coupled to a bus of the robot. The main controller receives status information of an execution node of the robot from the execution node, determines whether the execution node is in an abnormal status based on the status information of the execution node. In response to determining the execution node is in the abnormal status, the main controller determines a degree of abnormity of the execution node, determines an operating instruction corresponding to the degree of abnormity, and sends the operating instruction to the execution node, the execution node executing the operating instruction. The present disclosure further provides a bus exception handling device.
    Type: Grant
    Filed: September 4, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Hailang Zhou, Musen Zhang
  • Patent number: 10635089
    Abstract: A servo control device controls a combined position of a first servo system and a second servo system having higher response than response of the first servo system. The servo control device includes a first axis target value creation unit and a correction unit. The first axis target value creation unit creates a first axis target value based on a combined command value which is a position command value of the combined position. The correction unit converts the first axis target value into a first axis command value by using a first transfer function. In addition, the correction unit converts the first axis target value by using a second transfer function, and calculates a second axis command value by subtracting the converted first axis target value from the combined command value.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: April 28, 2020
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kenta Fujii, Hidetoshi Ikeda, Teruaki Fukuoka
  • Patent number: 10632615
    Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Dong Liu, Zhenmin Mo, Zhongliang Wang
  • Patent number: 10627807
    Abstract: A controller of a motor that drives a driven body, the controller includes: a command generating unit that generates a movement command for the motor; an inertia estimating unit that acquires feedback information of the motor and estimates an inertia on the basis of a predetermined estimation equation; a difference computing unit that computes a change in the inertia changed with machining based on the movement command of the command generating unit; and a comparing unit that compares a difference between the estimation results before and after the machining of the driven body estimated by the inertia estimating unit and the change in the inertia computed by the difference computing unit. the estimation equation of the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the estimation results matches a computation result obtained by the difference computing unit.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: April 21, 2020
    Assignee: FANUC CORPORATION
    Inventors: Kazunori Iijima, Yuusaku Oho
  • Patent number: 10603234
    Abstract: A patient support apparatus includes a frame, wheels, a patient support surface, a motor, a power assist control, a sensor, and a controller. The power assist control detects a force applied to it. The sensor detects an angular orientation of the patient support apparatus with respect to a generally horizontal plane. The controller drives the motor at different levels for a particular force applied to the power assist control depending upon the angular orientation sensed by the sensor. The controller may control the motors such that the patient support apparatus accelerates at substantially the same rate, regardless of the angle of the patient support apparatus. The controller may also limit the driving of the motor to less than a maximum value based upon the angular orientation of the patient support apparatus.
    Type: Grant
    Filed: March 28, 2017
    Date of Patent: March 31, 2020
    Assignee: Stryker Corporation
    Inventors: Thomas Alan Puvogel, Joshua A. Mansfield
  • Patent number: 10591889
    Abstract: The present invention provides a configuration which enables an improvement in the workability of wiring of a sensor in a servo system. An encoder detects the operation of a motor driven by a servo driver, and generates a feedback signal indicating the detected operation. Further, the encoder receives detected signals output from sensors for detecting an object driven by the motor via sensor cables. The encoder outputs the feedback signal and the input detected signals to the outside.
    Type: Grant
    Filed: November 14, 2014
    Date of Patent: March 17, 2020
    Assignee: OMRON Corporation
    Inventor: Takeshi Kiribuchi
  • Patent number: 10579043
    Abstract: To highly accurately predict remaining machining time required for cutting, a controller of a machining time prediction device includes a storage in which a machining program is stored, a simulator that performs a simulation in which a cutting machine cuts a workpiece in accordance with the machining program to generate a control pattern in which control information of a spindle and a holder is recorded, a machining time calculator that generates, based on the control pattern, a machining time table in which remaining machining time for each step of the machining program, a machining time acquirer that acquires a step of the machining program cutting of which is performed by the cutting machine at a current time point and acquires the remaining machining time for the step of the machining program, which has been acquired, from the machining time table, and a display controller that displays the remaining machining time that has been acquired by the machining time acquirer on a display screen.
    Type: Grant
    Filed: March 16, 2017
    Date of Patent: March 3, 2020
    Assignee: Roland DG Corporation
    Inventor: Tetsuya Kanja
  • Patent number: 10571921
    Abstract: According to some embodiments, a system segments a first path trajectory selected from an initial location of the ADV into a number of path segments, where each path segment is represented by a polynomial function. The system selects an objective function in view of the polynomial functions of the path segments for smoothing connections between the path segments. The system defines a set of constraints to the polynomial functions based on adjacent path segments in view of at least a road boundary and an obstacle perceived by the ADV. The system performs a quadratic programming (QP) optimization on the objective function in view of the added constraints, such that an output of the objective function reaches a minimum. The system generates a second path trajectory representing a path trajectory with an optimized objective function based on the QP optimization to control the ADV autonomously.
    Type: Grant
    Filed: September 18, 2017
    Date of Patent: February 25, 2020
    Assignee: BAIDU USA LLC
    Inventors: Haoyang Fan, Liangliang Zhang, Yajia Zhang, Weicheng Zhu, Yifei Jiang, Qi Luo, Jiangtao Hu, Qi Kong
  • Patent number: 10563979
    Abstract: A method of controlling a robot within a volume, the method comprising: receiving a three dimensional model including a model of the robot and a model of the volume in which the robot is configured to move within; defining a plurality of positions within the model of the volume to which the robot is moveable to, the plurality of positions being identified by an operator; receiving scanned three dimensional data of the robot and at least a part of the volume; determining a transformation algorithm using the three dimensional model and the scanned three dimensional data; applying the transformation algorithm to one or more positions of the plurality of positions to provide one or more transformed positions; and controlling movement of the robot using one or more of the transformed positions.
    Type: Grant
    Filed: June 6, 2017
    Date of Patent: February 18, 2020
    Assignee: ROLLS-ROYCE PLC
    Inventor: Neil K. Hastilow
  • Patent number: 10558128
    Abstract: The present invention provides a control device that performs position control of a control target by giving a feedforward manipulated value to the control target, wherein the device obtains, for each of a plurality of positions at which the control target is to be arranged, a measurement result of a first output response of the control target obtained when giving a first manipulated value to the control target, determines a reference value of the first output response, based on the measurement results respectively obtained at the plurality of positions, determines a second manipulated value by arraying a plurality of first manipulated values in time-series based on a relationship between the first manipulated value and the reference value, and sets the feedforward manipulated value based on the second manipulated value.
    Type: Grant
    Filed: April 25, 2019
    Date of Patent: February 11, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Koji Yoshida, Junichi Motojima, Mitsuhide Nishimura, Yoshihiro Omameuda
  • Patent number: 10556336
    Abstract: Methods and systems for modifying the inertial parameters used in a virtual robot model that simulates the interactions of a real-world robot with an environment to better reflect the actual inertial properties of the real-world robot. In one aspect, a method includes obtaining joint physical parameter measurements for the joints of a real-world robot, determining simulated joint physical parameter values for each of the joint physical parameter measurements, and adjusting an estimate of inertial properties of the real-world robot used by the virtual robot dynamic model to reduce a difference between the simulated joint physical parameter values and the corresponding joint physical parameter measurements.
    Type: Grant
    Filed: January 30, 2017
    Date of Patent: February 11, 2020
    Assignee: X Development LLC
    Inventor: Yunfei Bai
  • Patent number: 10545679
    Abstract: In one embodiment, a method includes determining a size of a file associated with each job in a job queue of files to be migrated to one of a plurality of drives that includes at least one of each of the following: a faster drive and a relatively slower drive. The availability of a faster drive is determined. The file associated with the job in the job queue having a file size larger than a threshold is sent to the faster drive.
    Type: Grant
    Filed: May 1, 2017
    Date of Patent: January 28, 2020
    Assignee: International Business Machines Corporation
    Inventor: Khanh V. Ngo
  • Patent number: 10520728
    Abstract: A deployment system for a device of a vehicle is described. The deployment system includes a non-transitory computer readable medium to store instructions of the deployment system and a processor configured to execute the instructions. The processor is configured to deploy the device using a parameter, determine a Mean Square Error (MSE), and run a Statistical Process Control (SPC) test on the MSE. The processor is further configured to determine that no special event is present and process a new parameter using the parameter and the SPC test results. An evolutionary operation (EVOP) algorithm is also used to calculate the new parameter.
    Type: Grant
    Filed: October 17, 2017
    Date of Patent: December 31, 2019
    Assignee: Visteon Global Technologies, Inc.
    Inventor: Eric François Fèvre
  • Patent number: 10520059
    Abstract: A vibration isolator includes: a vibration isolator moving part that suppresses vibration caused by operation of a drive unit moving part; a vibration isolating speed generation unit that generates a vibration isolating command speed on the basis of a target position of the drive unit moving part; a return speed generation unit that generates a return command speed for returning the vibration isolator moving part to an original position; a control speed generation unit that generates a control command speed by adding the vibration isolating command speed generated by the vibration isolating speed generation unit and the return command speed generated by the return speed generation unit; and a vibration isolation control unit that controls the vibration isolator moving part on the basis of the control command speed generated by the control speed generation unit.
    Type: Grant
    Filed: April 25, 2019
    Date of Patent: December 31, 2019
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Makoto Higashino, Shinya Nagata
  • Patent number: 10513035
    Abstract: A robot-defective-part diagnostic device includes a position measuring unit with a target and a sensor for capturing an image of the target. One of the target and the sensor is attached to the robot and the other is disposed outside the robot. The position measuring unit measures the positions of the target with the sensor for postures of the robot. The device also includes an error calculation unit that calculates the positioning error based on the measured positions of the target. A parameter calculation unit that calculates the mechanical parameters of the respective operation shafts based on the measured positions of the target for the respective postures when the calculated positioning error is larger than a predetermined threshold, and a defective-part identifying unit that identifies the operation shaft where the difference between the calculated mechanical parameters and preset mechanical parameters for achieving the postures is the largest.
    Type: Grant
    Filed: June 28, 2017
    Date of Patent: December 24, 2019
    Assignee: FANUC CORPORATION
    Inventor: Kyouhei Kokubo
  • Patent number: 10513071
    Abstract: A pressure controller for an injection molding machine capable of reducing variations of pressure in a mold in molding cycles and providing molded articles of stable quality is provided. The pressure controller includes an in-mold pressure estimation unit for estimating a pressure in the mold based on an injection pressure detected with an injection pressure detection unit, and an amount of movement of a screw detected with a screw movement amount detection unit, and an in-mold pressure control unit for controlling such that the estimated in-mold pressure becomes a set in-mold pressure after the pressure control is performed in a dwell step with an injection pressure control unit.
    Type: Grant
    Filed: March 3, 2016
    Date of Patent: December 24, 2019
    Assignee: FANUC CORPORATION
    Inventor: Junpei Maruyama
  • Patent number: 10479341
    Abstract: This electric brake device includes: a brake rotor; a friction member; friction member operator configured to bring the friction member into contact with the brake rotor; an electric motor configured to drive the friction member operator; and a controller configured to control a braking force by means of the electric motor. The controller includes: heat balance degree estimator configured to estimate a balance degree among heat generation amounts of a plurality of exciting coils in the electric motor; and heat load balancing section configured to decrease a heat generation amount of a specific exciting coil when the heat balance degree estimator has estimated that the heat generation amount of the specific exciting coil among the plurality of exciting coils is larger than heat generation amounts of the other exciting coils.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: November 19, 2019
    Assignee: NTN CORPORATION
    Inventor: Yui Masuda
  • Patent number: 10456911
    Abstract: After a component picked up by a suction nozzle is moved in an XY direction towards target XY coordinates, a waveform of a vibration (vibration waveform) in the Y direction arising in the component after the component has arrived near the target XY coordinates is measured, and control is performed such that the component arrives at a target Z coordinate (value zero) when a displacement y of the component crosses a node of the measured vibration waveform.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: October 29, 2019
    Assignee: FUJI CORPORATION
    Inventors: Ryo Nagata, Masatoshi Fujita
  • Patent number: 10459422
    Abstract: A servomotor control device includes a connection mechanism configured to connect a servomotor and a driven body, and transmit power of the servomotor to the driven body, a position command generation unit configured to generate a position command value for the driven body, a motor control unit configured to control the servomotor using the position command value, a force estimation part configured to estimate drive force acting on the driven body at a connecting part with the connection mechanism, a switching part configured to switch between a first force estimated value estimated by the force estimation part and a second force estimated value that is a fixed value, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation part, based on the first or second force estimated value that was switched to by the switching part.
    Type: Grant
    Filed: September 29, 2017
    Date of Patent: October 29, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10444728
    Abstract: A numerical controller controls a machine tool that has a plurality of axes based on a program command. The numerical controller analyzes the program command. When the program command contains a positioning command, the numerical controller generates a correction path bent in a direction going away from the workpiece with respect to a straight-line path toward a commanded position from a current position of the tool that machines the workpiece, and controls respective axes of the machine tool based on the generated correction path.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: October 15, 2019
    Assignee: Fanuc Corporation
    Inventors: Motohiko Ito, Hiroshi Minami
  • Patent number: 10434695
    Abstract: A method is described for operating an injection moulding machine, which has one or more movable machine parts which can be moved by suitable drives along specifiable travelling distances. Movement of a movable machine part is repeated cyclically. In order to reduce the movement times of the movable machine parts to a minimum, provision is made for one or more of the movable machine parts to successively reduce the power reserves of one or more of the drives associated with a movable machine part, until a specifiable minimum of power reserve is reached, wherein the minimum can be zero. In each cycle, the power reserve of the drive or drives is determined and is successively reduced, in particular from cycle to cycle. A movable platen, an ejector, a core puller, a plasticizing screw and/or an injection piston can be provided as movable machine part.
    Type: Grant
    Filed: June 19, 2015
    Date of Patent: October 8, 2019
    Assignee: Netstal-Maschinen AG
    Inventors: Eric Schmidheiny, Manuel Hausammann
  • Patent number: 10414041
    Abstract: A platform for a parallel robot, for acting on an object, including: at least two frames comprising at least two pairs of swivels; at least two bridges that are connected to each of the frames respectively by four hinges which are substantially parallel to an axial direction (V); and a base to be connected to an effector, which is suitable for acting on the object. The base is connected to each bridge respectively by at least one hinge which is oriented along a connection axis which is substantially parallel to the axial direction.
    Type: Grant
    Filed: May 19, 2015
    Date of Patent: September 17, 2019
    Assignees: UNIVERSITÉ DE MONTPELLIER, CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
    Inventors: Sébastien Krut, Olivier Company, Francois Pierrot
  • Patent number: 10406677
    Abstract: In this parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms such that the posture of the distal end side link hub can be altered relative to the proximal end side link hub. Each link mechanism includes proximal side and distal side end link members and an intermediate link member. Each end link member includes: a curved member curved by an arbitrary angle; and a rotation shaft support member fixed to one end of or each of opposite ends of the curved member, and configured to support a rotation shaft rotatably coupled directly or via a bearing to the intermediate link member or the link hub.
    Type: Grant
    Filed: September 29, 2016
    Date of Patent: September 10, 2019
    Assignee: NTN CORPORATION
    Inventors: Hiroshi Isobe, Seigo Sakata, Naoya Konagai, Hiroyuki Yamada
  • Patent number: 10409259
    Abstract: A servomotor control device includes a servomotor, driven body, connection mechanism, first position detection section, second position detection section, and motor control unit. The motor control unit has: a dual position control section that performs semi-closed FB control based on a high-frequency component of a first deviation between a position command value and the position of the servomotor detected by the first position detection section, and full-closed FB control based on a low-frequency component of a second deviation between the position command value and the position of the driven body detected by the second position detection section; an acquisition section that acquires a magnitude of rigidity of the connection mechanism; and a varying section that varies a proportion of the semi-closed FB control to full-closed FB control in the dual position control section, in response to the acquired magnitude of rigidity of the connection mechanism.
    Type: Grant
    Filed: June 4, 2018
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10399805
    Abstract: A sheet conveyance apparatus includes a conveyance portion to convey a sheet in a sheet conveyance direction, and a moving member having a main body portion, a contact portion configured to come into contact with the sheet conveyed by the conveyance portion, and a shaft portion provided on the main body portion, with the moving member configured to be moved due to the contact portion contacting the sheet. A first support portion pivotably supports a first part of the shaft portion such that the moving member is configured to pivot around the shaft, and a second support portion pivotably and slidably supports a second part of the shaft portion such that the second part of the shaft portion swings around the first part. In addition, a biasing member biases the moving member, and a sensor transmits a signal according to a position of the moving member.
    Type: Grant
    Filed: January 7, 2016
    Date of Patent: September 3, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Sachiyori Shiina, Takashi Yano, Kazuhide Okuno, Yohei Suzuki
  • Patent number: 10394272
    Abstract: A joystick including a main housing with a first control surface and a second control surface. A ball rotationally engages the first control surface. A shaft has a first end that releasably engages the ball. A shoe rotationally engages the second control surface. A main spring has a first end for pressing the shoe against the second control surface. A center lock housing engages a second end of the main spring and houses a slider and a lock spring. The slider selectively permits and prevents movement of the shoe along the shaft. The lock spring presses the slider into a desired default position. A knob releasably engages the second end of the shaft. A boot covers portions of the joystick.
    Type: Grant
    Filed: June 27, 2018
    Date of Patent: August 27, 2019
    Assignee: Sure Grip Controls, Inc.
    Inventors: Stephen L. Leckenby, Brent L. Kornelson
  • Patent number: 10300572
    Abstract: In a workpiece loader device, a loader mechanism is configured to move a loader hand directly held by operator's hands to a desired position. A loader mechanism control part stores position coordinates as workpiece receiving position coordinates when the loader hand is moved by operator's hands to the workpiece receiving position and a completion of moving is confirmed.
    Type: Grant
    Filed: March 7, 2016
    Date of Patent: May 28, 2019
    Assignee: DMG MORI CO., LTD.
    Inventors: Hiroshi Yasuda, Yoshinobu Okuyama, Takayuki Higuchi